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<div class="header">
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<a href="#pub-methods">Public Member Functions</a> &#124;
<a href="classg2o_1_1_robust_kernel_pseudo_huber-members.html">List of all members</a>  </div>
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<div class="title">g2o::RobustKernelPseudoHuber Class Reference</div>  </div>
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<p>Pseudo Huber Cost Function.  
 <a href="classg2o_1_1_robust_kernel_pseudo_huber.html#details">More...</a></p>

<p><code>#include &lt;<a class="el" href="robust__kernel__impl_8h_source.html">robust_kernel_impl.h</a>&gt;</code></p>
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Inheritance diagram for g2o::RobustKernelPseudoHuber:</div>
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Collaboration diagram for g2o::RobustKernelPseudoHuber:</div>
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<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr class="memitem:a7dab9bbb0e6f204a5f863220d606b0da"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_robust_kernel_pseudo_huber.html#a7dab9bbb0e6f204a5f863220d606b0da">robustify</a> (double e2, Eigen::Vector3d &amp;rho) const</td></tr>
<tr class="memdesc:a7dab9bbb0e6f204a5f863220d606b0da"><td class="mdescLeft">&#160;</td><td class="mdescRight">compute the scaling factor for a error: The error is e^T Omega e The output rho is rho[0]: The actual scaled error value rho[1]: First derivative of the scaling function rho[2]: Second derivative of the scaling function  <a href="#a7dab9bbb0e6f204a5f863220d606b0da">More...</a><br /></td></tr>
<tr class="separator:a7dab9bbb0e6f204a5f863220d606b0da"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pub_methods_classg2o_1_1_robust_kernel"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classg2o_1_1_robust_kernel')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="classg2o_1_1_robust_kernel.html">g2o::RobustKernel</a></td></tr>
<tr class="memitem:affb1dacfd8507540281ff3af2ae6eeb8 inherit pub_methods_classg2o_1_1_robust_kernel"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_robust_kernel.html#affb1dacfd8507540281ff3af2ae6eeb8">delta</a> () const</td></tr>
<tr class="separator:affb1dacfd8507540281ff3af2ae6eeb8 inherit pub_methods_classg2o_1_1_robust_kernel"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ae4f7b1e9d0c9925f98c0b828f554a8ab inherit pub_methods_classg2o_1_1_robust_kernel"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_robust_kernel.html#ae4f7b1e9d0c9925f98c0b828f554a8ab">RobustKernel</a> ()</td></tr>
<tr class="separator:ae4f7b1e9d0c9925f98c0b828f554a8ab inherit pub_methods_classg2o_1_1_robust_kernel"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aabd6883d9c5e33b567453585a80c7ad8 inherit pub_methods_classg2o_1_1_robust_kernel"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_robust_kernel.html#aabd6883d9c5e33b567453585a80c7ad8">RobustKernel</a> (double <a class="el" href="classg2o_1_1_robust_kernel.html#affb1dacfd8507540281ff3af2ae6eeb8">delta</a>)</td></tr>
<tr class="separator:aabd6883d9c5e33b567453585a80c7ad8 inherit pub_methods_classg2o_1_1_robust_kernel"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a8d85269635c436fca51324d7cb16a798 inherit pub_methods_classg2o_1_1_robust_kernel"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_robust_kernel.html#a8d85269635c436fca51324d7cb16a798">setDelta</a> (double <a class="el" href="classg2o_1_1_robust_kernel.html#affb1dacfd8507540281ff3af2ae6eeb8">delta</a>)</td></tr>
<tr class="memdesc:a8d85269635c436fca51324d7cb16a798 inherit pub_methods_classg2o_1_1_robust_kernel"><td class="mdescLeft">&#160;</td><td class="mdescRight">set the window size of the error.  <a href="classg2o_1_1_robust_kernel.html#a8d85269635c436fca51324d7cb16a798">More...</a><br /></td></tr>
<tr class="separator:a8d85269635c436fca51324d7cb16a798 inherit pub_methods_classg2o_1_1_robust_kernel"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a2d0512646603b993efdfc782df0e6df2 inherit pub_methods_classg2o_1_1_robust_kernel"><td class="memItemLeft" align="right" valign="top">virtual&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_robust_kernel.html#a2d0512646603b993efdfc782df0e6df2">~RobustKernel</a> ()</td></tr>
<tr class="separator:a2d0512646603b993efdfc782df0e6df2 inherit pub_methods_classg2o_1_1_robust_kernel"><td class="memSeparator" colspan="2">&#160;</td></tr>
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<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="inherited"></a>
Additional Inherited Members</h2></td></tr>
<tr class="inherit_header pro_attribs_classg2o_1_1_robust_kernel"><td colspan="2" onclick="javascript:toggleInherit('pro_attribs_classg2o_1_1_robust_kernel')"><img src="closed.png" alt="-"/>&#160;Protected Attributes inherited from <a class="el" href="classg2o_1_1_robust_kernel.html">g2o::RobustKernel</a></td></tr>
<tr class="memitem:a4b03953a6e7bfca64efea37fb98548aa inherit pro_attribs_classg2o_1_1_robust_kernel"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_robust_kernel.html#a4b03953a6e7bfca64efea37fb98548aa">_delta</a></td></tr>
<tr class="separator:a4b03953a6e7bfca64efea37fb98548aa inherit pro_attribs_classg2o_1_1_robust_kernel"><td class="memSeparator" colspan="2">&#160;</td></tr>
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<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
<div class="textblock"><p>Pseudo Huber Cost Function. </p>
<p>The smooth pseudo huber cost function: See <a href="http://en.wikipedia.org/wiki/Huber_loss_function">http://en.wikipedia.org/wiki/Huber_loss_function</a></p>
<p>2 e 2 d (sqrt(&ndash; + 1) - 1) 2 d </p>
</div><h2 class="groupheader">Member Function Documentation</h2>
<a id="a7dab9bbb0e6f204a5f863220d606b0da"></a>
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          <td class="memname">void g2o::RobustKernelPseudoHuber::robustify </td>
          <td>(</td>
          <td class="paramtype">double&#160;</td>
          <td class="paramname"><em>squaredError</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">Eigen::Vector3d &amp;&#160;</td>
          <td class="paramname"><em>rho</em>&#160;</td>
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          <td></td>
          <td>)</td>
          <td></td><td> const</td>
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<span class="mlabels"><span class="mlabel">virtual</span></span>  </td>
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<p>compute the scaling factor for a error: The error is e^T Omega e The output rho is rho[0]: The actual scaled error value rho[1]: First derivative of the scaling function rho[2]: Second derivative of the scaling function </p>

<p>Implements <a class="el" href="classg2o_1_1_robust_kernel.html#ab47b071a0cfe466be063f0104bc41d0f">g2o::RobustKernel</a>.</p>

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<hr/>The documentation for this class was generated from the following files:<ul>
<li>/home/alejandro/Desarrollo eclipse/os1/Thirdparty/g2o/g2o/core/<a class="el" href="robust__kernel__impl_8h_source.html">robust_kernel_impl.h</a></li>
<li>/home/alejandro/Desarrollo eclipse/os1/Thirdparty/g2o/g2o/core/<a class="el" href="robust__kernel__impl_8cpp.html">robust_kernel_impl.cpp</a></li>
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